JP7230948B2 - Access control device - Google Patents

Description

The present disclosure relates to an entrance/exit management device.

Patent Literature 1 discloses an entrance/exit management device. When the entrance/exit management device receives a request notification from a mobile object to pass through the entrance/exit device, the entrance/exit management device can open the entrance/exit device to allow passage.

JP 2019-108219 A

However, in the entrance/exit management device described in Patent Literature 1, when a mobile unit erroneously transmits a request notification to pass through an unrelated entrance/exit device, the entrance/exit management device opens the unrelated entrance/exit device. . For this reason, the security of entrance/exit management is lowered.

The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide an entrance/exit management device capable of improving security.

The entrance/exit management device according to the present disclosure includes either one of a first request notification for a mobile body to pass through the entrance/exit device and a report notification that the mobile body has completed passage through the entrance/exit device, and the first request notification or the report. a receiving unit for receiving from the moving object first location information of the moving object when the notification is transmitted; and based on the first location information received by the receiving unit, the moving object is in a prescribed area. If it is determined that the first request notification or the report notification has been transmitted in the state, whether the moving body has the authority to pass through the entrance/exit device based on the first request notification received by the receiving unit Or, based on the report notification received by the receiving unit, it is determined whether the moving body has completed passage through the entrance/exit device, and based on the first position information received by the receiving unit, If it is determined that the first request notification or the report notification has not been transmitted while the mobile body is in the specified area, determining whether or not there is the authority based on the first request notification an authentication unit that does not or does not determine whether or not the passage is completed based on the report notification, wherein the first request notification includes identification information of the entrance/exit device .

According to the present disclosure, when the entrance/exit management device determines that the mobile body has transmitted the first request notification or the report notification while the mobile body is in the specified area, whether or not the mobile body has the authority to pass or not It is determined whether or not the moving object has completed passage. Therefore, security can be improved.

1 is a top view of a management section to which an entrance/exit management device according to Embodiment 1 is applied; FIG. 1 is a block diagram of an entrance/exit management system to which an entrance/exit management device according to Embodiment 1 is applied; FIG. 1 is a top view of a management section to which an entrance/exit management device according to Embodiment 1 is applied; FIG. FIG. 4 is a block diagram of a first modified example of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied; 9 is a flowchart for explaining an overview of the operation of the first modified example of the entrance/exit management device according to Embodiment 1; FIG. 9 is a block diagram of a second modified example of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied; FIG. 12 is a block diagram of a third modification of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied; 9 is a flow chart for explaining an overview of the operation of the third modified example of the entrance/exit management device according to Embodiment 1; 2 is a hardware configuration diagram of a control device for the elevator system according to Embodiment 1. FIG. FIG. 11 is a block diagram of an entrance/exit management system to which an entrance/exit management device according to Embodiment 2 is applied; FIG. 11 is a block diagram of an entrance/exit management system to which an entrance/exit management device according to Embodiment 2 is applied; FIG. 11 is a block diagram of a modification of the entrance/exit management system to which the entrance/exit management device according to Embodiment 2 is applied; FIG. 11 is a block diagram of an entrance/exit management system to which an entrance/exit management device according to Embodiment 3 is applied; FIG. 12 is a diagram showing action instruction information created by a service management device to which an entrance/exit management device according to Embodiment 3 is applied; FIG. 11 is a diagram showing information on an entry/exit permitted time period and an entry/exit refusal time period created by an entrance/exit management device according to Embodiment 3; 14 is a flow chart for explaining an overview of the operation of the entrance/exit management device according to Embodiment 3. FIG. 14 is a flow chart for explaining an overview of the operation of the entrance/exit management device according to Embodiment 3. FIG. FIG. 12 is a block diagram of a modification of the entrance/exit management system to which the entrance/exit management device according to Embodiment 3 is applied; FIG. 11 is a top view of a management section to which an entrance/exit management device according to Embodiment 4 is applied; FIG. 11 is a block diagram of an entrance/exit management system to which an entrance/exit management device according to Embodiment 4 is applied; FIG. 13 is a diagram showing an example of determination made by an entrance/exit management device according to Embodiment 4; 14 is a flow chart for explaining an overview of the operation of the entrance/exit management device according to Embodiment 4;

Embodiments for carrying out the present disclosure will be described with reference to the accompanying drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or corresponds in each figure. Redundant description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a top view of a management section to which an entrance/exit management device according to Embodiment 1 is applied.

In the entrance/exit management system shown in FIG. 1, a management section 1 is set inside a building (not shown). The management section 1 is divided into an internal section 1a and an external section 1b. A door 2 is provided between the inner section 1a and the outer section 1b as an entrance/exit device. For example, the entrance/exit management device 3 is provided inside a building. The internal authentication area 4a is set around the door 2 in the internal section 1a by the entrance/exit management device 3. As shown in FIG. The external authentication area 4b is set around the door 2 in the external section 1b by the entrance/exit management device 3. As shown in FIG.

The moving body 5 is provided so as to be able to move autonomously. The mobile body 5 is provided so as to be able to communicate with the entrance/exit management device 3 . The moving body 5 is arranged inside the building. A plurality of moving bodies 5 are shown in FIG.

When the moving body 5 attempts to enter the inner section 1a from the outer section 1b, it moves inside the outer authentication area 4b. When the movement to the external authentication area 4b is completed, the moving object 5 creates a first request notification to pass through the door 2 including the identification information of the moving object 5 and the identification information of the door 2. FIG. The moving body 5 transmits to the entrance/exit management device 3 information in which the first request notification and the location information of itself when the first request notification is created are associated with each other.

When the entrance/exit management device 3 receives the first request notification, the entrance/exit management device 3 determines whether the moving body 5 is at the door 2 based on the first position indicated by the first position information of the moving body 5 associated with the first request notification. It is determined that the first request notification has been sent from inside the corresponding external authentication area 4b. In this case, the entrance/exit management device 3 determines whether or not the moving body 5 has the authority to pass through the door 2 as the authentication operation of the first request notification. When the entrance/exit management device 3 determines that the mobile body 5 has the authority, it transmits a command to open the door 2 . Door 2 opens when it receives the command.

After that, the moving body 5 passes through the door 2 . After passing through the door 2, the moving body 5 creates a report notification that passage through the door 2 has been completed, including the identification information of the moving body 5 and the identification information of the door 2, in the internal authentication area 4a. The mobile unit 5 transmits to the entrance/exit management device 3 information in which the report notification and its own position information when the report notification is created are associated with each other.

When the entry/exit management device 3 receives the report notification, based on the first position information of the mobile body 5 associated with the report notification, the entrance/exit management device 3 moves the mobile body 5 from inside the internal authentication area 4a corresponding to the door 2. It is determined that the report notification has been sent. In this case, the entrance/exit management device 3 determines whether or not the moving body 5 has completed passage through the door 2 as the authentication operation of the report notification. When the entrance/exit management device 3 determines that the moving body 5 has completed passage through the door 2 , the entrance/exit management device 3 transmits a command to close the door 2 . The door 2 closes when it receives the command.

Even when the moving body 5 tries to exit from the inner section 1a to the outer section 1b, the entrance/exit management device 3 and the moving body 5 perform the same operation as when the moving body 5 tries to enter.

Next, the entrance/exit management device 3 will be described with reference to FIG.
FIG. 2 is a block diagram of an entrance/exit management system to which the entrance/exit management device according to Embodiment 1 is applied.

As shown in FIG. 2 , the entrance/exit management device 3 includes a storage unit 6 , a reception unit 7 and an authentication unit 8 .

The storage unit 6 stores facility information indicating the positions of the devices existing in the management section 1 and the positions of the areas.

The receiving unit 7 receives information from the mobile unit 5 .

When the receiving unit 7 receives the first request notification or the report notification from the moving object 5, the authentication unit 8 sends a request to the door 2 based on the identification information of the door 2 included in the first request notification or the report notification. The corresponding equipment information is acquired from the storage unit 6 . Based on the first location information and facility information of the mobile object 5 associated with the first request notification or the report notification, the receiving unit 7 moves when the first request notification or the report notification is transmitted. It is determined whether the first position of the body 5 is inside the inner authentication area 4a or the outer authentication area 4b, not shown in FIG. When the authenticating unit 8 determines that the first position of the moving object 5 when the first request notification or the report notification is transmitted is inside the internal authentication area 4a or the external authentication area 4b, the first request notification Alternatively, the authentication operation of the report notification is performed.

Specifically, in the authentication operation, the authentication unit 8 determines whether or not the mobile object 5 has the authority to pass through the door 2 based on the first request notification. When the authentication unit 8 determines in the authentication operation that the moving body 5 has the authority to pass through the door 2 based on the first request notification, the authentication unit 8 transmits a command to open the door 2 . In the authentication operation, the authentication unit 8 determines whether or not the moving body 5 has completed passage through the door 2 based on the report notification. Specifically, when the identification information of the moving body 5 included in the report notification matches the first request notification, the authentication unit 8 determines that the moving body 5 has completed passage through the door 2 . When the authentication unit 8 determines in the authentication operation that the moving body 5 has completed passage through the door 2 based on the report notification, the authentication unit 8 transmits a command to close the door 2 .

According to Embodiment 1 described above, the entrance/exit management device 3 includes the reception unit 7 and the authentication unit 8 . When the entrance/exit management device 3 determines that the mobile body 5 has transmitted the first request notification or the report notification while the mobile body 5 is in the specified authentication area, whether or not the mobile body 5 has the authority to pass through the entrance/exit device. or whether or not the moving body 5 has completed passage through the entrance/exit device. Therefore, security can be improved.

When the entrance/exit management device 3 determines that the mobile body 5 has the authority to pass through the entrance/exit device based on the first request notification, the entrance/exit management device 3 transmits a command to open the entrance/exit device. Therefore, the moving body 5 can pass through the entrance/exit device.

In addition, when the entrance/exit management device 3 determines that the moving body 5 has completed passage through the entrance/exit device based on the report notification, the entry/exit management device 3 transmits a command to close the entrance/exit device. Therefore, it is possible to prevent passage through the entrance/exit device. As a result, security is improved.

When transmitting the first request notification, the moving body 5 associates the entering/leaving motion information indicating the motion to enter or the entering/leaving motion information indicating the motion to exit with the first request notification. may be attached and transmitted to the entrance/exit management device 3. In this case, the entrance/exit management device 3 may determine whether or not the entrance/exit operation information and the first position information match. Specifically, when the entrance/exit management device 3 receives the entrance/exit operation information indicating that it is an entrance operation, and when the first position of the moving body 5 is the external authentication area 4b, the entrance/exit operation information is consistent with the first position information. When the entrance/exit management device 3 receives the entrance/exit movement information indicating that the movement is to exit, and when the first position of the moving object is the internal authentication area 4a, the entrance/exit movement information is regarded as the first position information. Judged as consistent. When the entrance/exit management device 3 determines that the entrance/exit operation information and the first location information match, the entrance/exit management device 3 may perform the authentication operation of the first request notification. Therefore, the validity of the first request notification can be determined more accurately. As a result, security is improved. again,

Note that the entrance/exit management device 3 may be installed in a building different from the building in which the management section 1 is installed. In this case, the entrance/exit management device 3 may perform communication between the door 2 and the moving body 5 via a communication line.

Note that the storage unit 6 may not be provided inside the entrance/exit management device 3 . For example, a storage device having the same function as the storage unit 6 may be provided at a location different from the entrance/exit management device 3 .

Note that the entrance/exit device may not be the door 2 .
FIG. 3 is a top view of a management section to which the entrance/exit management device according to Embodiment 1 is applied.

As shown in FIG. 3, a security gate 9 is provided between the inner compartment 1a and the outer compartment 1b as an entrance/exit device. Security gate 9 comprises a plurality of lanes 10 . In this case, the entrance/exit management device 3 issues a command to the security gate 9 to open or close one of the plurality of lanes 10 in the same manner as the command to the door 2 (not shown in FIG. 3). to send.

Next, a first modified example of the entrance/exit management system will be described with reference to FIG.
FIG. 4 is a block diagram of a first modified example of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied.

As shown in FIG. 4, in the entrance/exit management system, a plurality of imaging devices 11 are provided inside a building. One of the plurality of imaging devices 11 images an inner section 1a and an outer section 1b not shown in FIG. In the first modified example of Embodiment 1, among the plurality of imaging devices 11, the imaging device 11 that photographs the inner section 1a and the outer section 1b will be described.

When the imaging device 11 receives a command from the entrance/exit management device 3, the imaging device 11 detects the position where the moving object 5 exists based on the captured image. When detecting the position of the moving body 5 , the imaging device 11 creates second position information of the moving body 5 including information on the detected time, and transmits the second position information to the entrance/exit management device 3 .

In the entrance/exit management device 3, when the receiving unit 7 receives the first request notification or the report notification from the mobile object 5, the authentication unit 8 is installed at the place associated with the first request notification or the report notification. The image pickup device 11 that has been detected is specified. The authentication unit 8 transmits a command to transmit the second position information to the imaging device 11 .

After that, the receiving unit 7 receives the second position information of the moving body 5 from the imaging device 11 . In this case, the authentication unit 8 determines whether or not the first location information and the second location information of the moving body 5 match. Specifically, the authentication unit 8 calculates the difference between the first position indicated by the first position information and the position indicated by the second position information. If the value of the difference is smaller than the prescribed threshold, the authentication unit 8 determines whether the first location information and the second location information match. If the authentication unit 8 determines that the first location information matches the second location information, and the first location of the moving body 5 when the first request notification or the report notification is transmitted, the first location is the internal authentication area 4a. Alternatively, if it is determined to be inside the external authentication area 4b, the authentication operation for the first request notification or the report notification is performed.

Next, with reference to FIG. 5, an example of the operation performed when the entrance/exit management device 3 receives the request notification will be described.
FIG. 5 is a flow chart for explaining an overview of the operation of the first modified example of the entrance/exit management device according to the first embodiment.

As shown in FIG. 5, in step S001, the entrance/exit management device 3 receives the first request notification from the mobile body 5. As shown in FIG.

After that, the operation of step S002 is performed. In step S<b>002 , the entrance/exit management device 3 transmits a command to the imaging device 11 to transmit the second position information.

After that, the operation of step S003 is performed. In step S003, the entrance/exit management device 3 receives the second position information. The entrance/exit management device 3 determines whether or not the first location information and the second location information match.

When it is determined in step S003 that the first location information and the second location information match, the entrance/exit management device 3 performs the operation of step S004. In step S004, the entrance/exit management device 3 determines whether or not the first position of the mobile body 5 is inside the internal authentication area 4a or the external authentication area 4b.

When it is determined in step S004 that the first position of the moving body 5 is inside the internal authentication area 4a or the external authentication area 4b, the entrance/exit management device 3 performs the operation of step S005. In step S005, the entrance/exit management device 3 performs an authentication operation for the notification of the first request. After that, the entrance/exit management device 3 ends the operation.

If it is determined in step S003 that the first location information and the second location information do not match, or if it is determined in step S004 that the first location of the moving body 5 is not inside the internal authentication area 4a and the external authentication area 4b, The entrance/exit management device 3 terminates its operation.

According to the first modification of the first embodiment described above, the imaging device 11 creates the second position information based on the information obtained by photographing the moving body 5 when the first request notification or report notification is transmitted. do. The entrance/exit management device 3 determines whether or not the second positional information of the moving body 5 received from the imaging device 11 matches the first positional information. Therefore, it can be detected that the first position information is valid information. As a result, security is improved.

Note that two or more imaging devices 11 may be provided. For example, one of the two imaging devices 11 may image the inner section 1a. The other of the two imaging devices 11 may image the outer section 1b.

Note that the entry/exit management device 3 may have a function of creating second position information of the moving body 5 based on the information captured by the imaging device 11 . In this case, the function may transmit the second location information to the receiver 7 .

Next, a second modified example of the entrance/exit management system will be described with reference to FIG.
FIG. 6 is a block diagram of a second modified example of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied.

As shown in Drawing 6, beacon device 12 is provided in the circumference of door 2 in the 2nd modification of an entrance-and-exit management system. The beacon device 12 is provided so as to detect the position of the mobile body 5 based on the signal from the transmitter provided on the mobile body 5 .

In the second modified example, the moving body 5 transmits the first request notification including one-time password information or the report notification including one-time password information to the entrance/exit management device 3 . At this time, the mobile unit 5 transmits a signal including the information of the one-time password from the transmitter. When the receiving unit 7 of the entrance/exit management device 3 receives the first request notification or the report notification, the authentication unit 8 transmits information in which the one-time password information and the command to transmit the second location information are associated with each other. It transmits to the beacon device 12 .

Beacon device 12 judges whether the signal containing the information on the one-time password matched with the command concerned is received, when the command concerned is received. Beacon device 12 creates the 2nd position information which shows the position where the signal exists, when it judges with receiving the signal containing the information on the one-time password concerned. After that, the beacon device 12 transmits the second position information to the entrance/exit management device 3 .

When receiving the second position information from the beacon device 12, the entrance/exit management device 3 performs the same operation as in the first modified example.

According to the second modification of the first embodiment described above, the entrance/exit management device 3 determines whether the second location information and the first location information of the moving body 5 received from the beacon device 12 match. judge. Therefore, it can be detected that the first position information is valid information. As a result, security is improved.

Next, a third modified example of the entrance/exit management system will be described with reference to FIG.
FIG. 7 is a block diagram of a third modified example of the entrance/exit management system to which the entrance/exit management device in Embodiment 1 is applied.

As shown in FIG. 7, in the third modification of the entrance/exit management system, the route history storage device 13 and the route management device 14 are provided inside the building.

The route history storage device 13 stores history information of routes traveled by the moving body 5 .

The route management device 14 receives position information from the mobile object 5 at regular intervals. The route management device 14 creates history information of the route traveled by the moving object 5 at regular time intervals, and stores the history information in the route history storage device 13 . When the route management device 14 receives a command to transmit the history information of the moving body 5 from the entrance/exit management device 3, the route management device 14 sends the latest history information of the moving body 5 stored in the route history storage device 13 to the entrance/exit management device 3. Send to

In the entrance/exit management device 3 of the third modified example, when the moving body 5 receives the first request notification or the report notification, the authentication unit 8 instructs the route management device 14 to transmit the history information of the moving body 5. Send. When the receiving unit 7 receives history information from the route management device 14, the authentication unit 8 determines whether or not the first location information received from the moving body 5 matches the history information.

Specifically, for example, the authentication unit 8 calculates the shortest predicted travel time from the latest position of the moving body 5 indicated by the history information to the first position. The authentication unit 8 calculates the predicted arrival time by adding the predicted travel time to the time when the history information was created. If the current time is the same as or earlier than the predicted arrival time, the authentication unit 8 determines that the first position information matches the history information. If the current time is after the predicted arrival time, the authentication unit 8 determines that the first position information and the history information do not match.

When the authentication unit 8 determines that the first information matches the history information, the authentication unit 8 performs an authentication operation for the first request notification or the report notification.

Next, with reference to FIG. 8, an example of the operation of determining whether or not the first location information received from the moving body 5 matches the history information by the entrance/exit management device 3 will be described.
FIG. 8 is a flow chart for explaining the outline of the operation of the third modified example of the entrance/exit management device according to the first embodiment.

As shown in FIG. 8, in step S101, the entrance/exit management device 3 receives the first request notification from the mobile body 5. As shown in FIG.

After that, the operation of step S102 is performed. In step S<b>102 , the entrance/exit management device 3 transmits a command to transmit history information to the route management device 14 .

After that, the operation of step S103 is performed. In step S103, the entry/exit management device 3 receives the history information. The entrance/exit management device 3 determines whether or not the first position information matches the history information.

When it is determined in step S103 that the first position information and the history information match, the entrance/exit management device 3 performs operations from step S104 onward. In steps S104 and S105, the entrance/exit management device 3 performs the same operations as in steps S004 and S005 in the first modification of the first embodiment. After that, the entrance/exit management device 3 ends the operation.

If it is determined in step S103 that the first position information and the history information do not match, the entrance/exit management device 3 terminates the operation.

According to the third modification of the first embodiment described above, the entrance/exit management device 3 determines whether or not the history information received from the route management device 14 matches the first position information. Therefore, the validity of the first position information can be determined. Alternatively, the validity of history information can be determined by regarding the first position information as accurate information.

Note that the route history storage device 13 may be provided inside the route management device 14 .

Note that the route management device 14 may be installed in a building different from the building in which the management section 1 is installed.

Next, an example of hardware constituting the entrance/exit management device 3 will be described with reference to FIG.
FIG. 9 is a hardware configuration diagram of the control device for the elevator system according to the first embodiment.

Each function of the entrance/exit management device 3 can be realized by a processing circuit. For example, the processing circuitry comprises at least one processor 100a and at least one memory 100b. For example, the processing circuitry comprises at least one piece of dedicated hardware 200 .

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the entrance/exit management device 3 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the entrance/exit management device 3 by reading and executing a program stored in at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

Where the processing circuitry comprises at least one piece of dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. be. For example, each function of the entrance/exit management device 3 is implemented by a processing circuit. For example, each function of the entrance/exit management device 3 is collectively realized by a processing circuit.

A part of each function of the entrance/exit management device 3 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. For example, the function of transmitting the command to open or close the door 2 is realized by a processing circuit as the dedicated hardware 200, and functions other than the function of transmitting the command to open or close the door 2 may be realized by reading and executing a program stored in at least one memory 100b by at least one processor 100a.

Thus, the processing circuit implements each function of the entrance/exit management device 3 with hardware 200, software, firmware, or a combination thereof.

Although not shown, each function of the route management device 14 is also implemented by a processing circuit equivalent to the processing circuit that implements each function of the entrance/exit management device 3 .

Embodiment 2.
FIG. 10 is a block diagram of an entrance/exit management system to which the entrance/exit management device according to Embodiment 2 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In the second embodiment shown in FIG. 10, the management section 1 is divided into an internal section 1c, an internal section 1d and an external section 1e. Door 2a is provided between inner compartment 1c and outer compartment 1e as one of a plurality of candidate entrance devices. A door 2b is provided between the inner compartment 1d and the outer compartment 1e as one of a plurality of candidate entrance devices. Door 2b adjoins door 2a. For example, the direction in which door 2b faces is perpendicular to the direction in which door 2a faces.

The external authentication area 15a is associated with the door 2a. The external authentication area 15a is set around the door 2a in the external section 1e. The external authentication area 15b is associated with the door 2b. The external authentication area 15b is set around the door 2b in the external section 1e. A portion of the external authentication area 15b overlaps a portion of the external authentication area 15a. The overlapping authentication area 15c is a region where the external authentication area 15a and the external authentication area 15b are overlapped.

In Embodiment 2, for example, the moving body 5 is provided so as to create first direction information indicating how many degrees it faces with respect to the north direction, using a geomagnetic sensor.

When the moving body 5 attempts to enter the inner section 1c from the outer section 1e, it moves inside the duplicate authentication area 15c, which is inside the outer authentication area 15a. The moving body 5 creates its own third location information and first direction information in the overlapping authentication area 15c. After that, the moving body 5 sends information in which the second request notification including the identification information of the moving body 5 and not including the identification information of the door 2a, the third position information, and the first direction information are associated with the entrance/exit management device 3. Send to

When the entrance/exit management device 3 receives the second request notification, the third position information, and the first direction information, the entrance/exit management device 3 determines the distance between the door 2a and the door 2b based on the third position information and the first direction information. Among them, the door requested by the moving body 5 to pass through is specified as the door 2a. After that, the entrance/exit management device 3 performs the authentication operation of the second request notification regarding the specified door 2a.

Next, the entrance/exit management device 3 will be described with reference to FIG.
FIG. 11 is a block diagram of an entrance/exit management system to which the entrance/exit management device according to Embodiment 2 is applied.

As shown in FIG. 11 , the entrance/exit management device 3 includes a specifying unit 16 . The identifying unit 16 acquires the facility information from the storage unit 6 when the receiving unit 7 receives the second request notification. The identifying unit 16 identifies the door requested by the moving body 5 to pass through based on the facility information and the information associated with the third position information and the first direction information received by the receiving unit 7 . Specifically, the identifying unit 16 identifies a door that exists in the direction indicated by the first direction information from the third position indicated by the third position information as the door requested by the moving body 5 to pass through.

The authentication unit 8 performs the authentication operation of the second request notification when the door requested to pass by the moving body 5 is specified. At this time, the authentication unit 8 determines whether or not the mobile object 5 is authorized to pass through the specified door.

According to Embodiment 2 described above, the entrance/exit management device 3 includes the specifying unit 16 . The entrance/exit management device 3 identifies, from among the plurality of candidate entrance/exit devices, the entrance/exit device to which the moving body 5 requests passage based on the third position information and the first direction information. Therefore, for a moving object 5 that does not have the identification information of the entrance/exit device that requests passage, the entrance/exit device that the moving object 5 wants to pass through can be specified. For example, if a delivery robot that has come to a building for the first time has the authority to pass through the doorway device and does not have the identification information of the doorway device, the delivery robot cannot pass through the doorway device. Can not. The entrance/exit management device 3 can allow the delivery robot to pass through by including the specifying unit 16 . As a result, convenience is improved.

Note that the moving body 5 may create direction information using a device other than the geomagnetic sensor.

Next, a modification of the second embodiment will be described with reference to FIG.
FIG. 12 is a block diagram of a modification of the entrance/exit management system to which the entrance/exit management device according to Embodiment 2 is applied.

As shown in FIG. 12, the entry/exit management system is provided with a plurality of imaging devices 11 . FIG. 12 shows one of the imaging devices 11 . One of the plurality of imaging devices 11 images an external section 1e not shown in FIG. When receiving a command from the entrance/exit management device 3, each of the imaging devices 11 detects the direction in which the moving body 5 faces based on the captured image. When the imaging device 11 detects the direction in which the moving body 5 faces, the imaging device 11 creates second direction information of the moving body 5 including information on the detected time, and transmits the second direction information to the entrance/exit management device 3 .

In a modified example, the moving body 5 does not create first direction information. The moving body 5 transmits to the entry/exit management device 3 information in which the second request notification not including the identification information of the door 2a is associated with the third position information.

In the entrance/exit management device 3, when the receiving unit 7 receives the information in which the second request notification and the third location information are associated, the specifying unit 16 selects the plurality of imaging devices based on the third location information. 11, the imaging device 11 installed at the location where the moving body 5 that has transmitted the second request notification is located is identified. The specifying unit 16 transmits a command to transmit the second direction information to the imaging device 11 .

When the receiving unit 7 receives the second direction information from the imaging device 11 , the specifying unit 16 receives the facility information, the third position information received by the receiving unit 7 from the moving body 5 , and the third position information received by the receiving unit 7 from the imaging device 11 . Based on the second direction information, the door through which the moving body 5 requested to pass is specified.

According to the modified example of the second embodiment described above, the entrance/exit management device 3 receives the second direction information from the imaging device 11 . Therefore, when the mobile body 5 does not have a device for detecting the direction, it is possible to specify the entrance/exit device to which the mobile body 5 requests to pass. As a result, the entrance/exit management system can be applied to many kinds of moving bodies 5 .

Embodiment 3.
FIG. 13 is a block diagram of an entrance/exit management system to which the entrance/exit management device according to Embodiment 3 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In the entrance/exit management system of Embodiment 3 shown in FIG. 13, the service management device 17 is provided inside the building. The service management device 17 is owned by a service provider that provides services using the mobile unit 5 . The service management device 17 is set by the service provider with information on service contents using the mobile body 5, such as home delivery and cleaning. The service management device 17 is provided so as to receive service requests from service users.

The mail distribution device 18 is provided inside the building in which the entrance/exit management device 3 is provided. When receiving a notification command from the entrance/exit management device 3, the mail distribution device 18 distributes an email indicating the content of the notification command to the administrator of the building.

When receiving a service request, the service management device 17 creates action instruction information corresponding to the service request. The service management device 17 creates action information to instruct the moving body 5 based on the action instruction information. The service management device 17 transmits to the mobile object 5 information in which the action information and the instruction to perform the service are associated. For example, when receiving the command, the moving object 5 starts moving from the outer section 1b (not shown in FIG. 11) to the inner section 1a based on the associated action information. The moving body 5 associates the first request notification including the identification information of the door 2 from the external authentication area 15a (not shown in FIG. 11) with the identification information of the moving body 5 and the action information received from the service management device 17. The received information is transmitted to the entrance/exit management device 3 .

In the entrance/exit management device 3 of Embodiment 3, the authentication unit 8 uses the first determination method or the second determination method based on the information received from the moving object 5 to determine whether the moving object 5 passes through the door 2. Determine if there is a reason to do so.

In the first determination method, when the receiving unit 7 receives the information associated with the first request notification from the moving body 5, the authenticating unit 8 determines whether or not the information included in the information is sufficient. . For example, when the information includes the identification information of the moving body 5, the identification information of the door 2, and the action information, the authentication unit 8 determines that the information is sufficient. When the authentication unit 8 determines that there is no shortage of information, the authentication unit 8 sends a command to the service management device 17 to send action instruction information corresponding to the mobile object 5 .

When the receiving unit 7 receives the action instruction information, the authentication unit 8 determines whether or not the action instruction information matches the action information received from the corresponding moving object 5 . Specifically, the authentication unit 8 determines whether the service content information, destination information, scheduled departure time information, movement route information, etc. included in the action information match the action instruction information. . When the authentication unit 8 determines that the action instruction information and the action information match, it determines that there is a reason for the moving body 5 to pass through the door 2 . In this case, the authentication unit 8 performs the authentication operation of the first request notification associated with the action information.

In the second determination method, the authentication unit 8 transmits an instruction to the service management device 17 to transmit action instruction information, as in the first determination method. When the receiving unit 7 receives the action instruction information, the authentication unit 8 creates information indicating the entry permitted time zone and the entry refusal time zone of the mobile body 5 indicated by the action instruction information based on the action instruction information. Based on the received identification information of the moving object 5 and the information indicating the entry/exit permitted time period and the entry/exit refusal time period, the authentication unit 8 determines whether the time period during which the moving object 5 is permitted to enter or exit is determined. determine whether or not If the authentication unit 8 determines that it is the time period during which the moving body 5 is permitted to enter or exit, it determines that there is a reason for the moving body 5 to pass through the door 2 . In this case, the authentication unit 8 performs the authentication operation of the first request notification associated with the identification information of the mobile object 5 .

The entrance/exit management device 3 further includes an entrance/exit history creation unit 19 and a notification unit 20 .

When the authentication unit 8 authenticates that the mobile body 5 enters the internal authentication area 4a from the external authentication area 4b, the entrance/exit history creation unit 19 stores entrance/exit history information indicating that the mobile body 5 has entered. Store in part 6. When the moving object 5 is authenticated to exit from the internal authentication area 4a to the external authentication area 4b, the entrance/exit history creating unit 19 adds the moving object 5 to the entrance/exit history information of the moving object 5 stored in the storage unit 6. Adds information indicating that has exited.

The notification unit 20 determines whether or not the moving object 5 has exited based on the entrance/exit history information stored in the storage unit 6 when the scheduled exit time indicated by the behavior information received from the moving object 5 has come. . If the notifying unit 20 determines that the moving body 5 has not left when the scheduled leaving time comes, it sends a command to the mail distribution device 18 to notify that fact.

Next, action instruction information received from the user by the service management device 17 and information created by the entrance/exit management device 3 will be described with reference to FIGS. 14 and 15. FIG.
FIG. 14 is a diagram showing action instruction information created by the service management device to which the entrance/exit management device according to Embodiment 3 is applied. FIG. 15 is a diagram showing information on the entrance/exit permitted time period and the entrance/exit refusal time period created by the entrance/exit management device according to the third embodiment.

As shown in FIG. 14, the action instruction information includes "client" information, "trader" information, "request content" information, "destination" information, "service provision time" information, and "usage information". This information is associated with the information of "moving body".

The “client” information is information indicating the user for whom the service management device 17 has accepted the service. The "vendor" information is information indicating the provider of the service. The "request content" information is information indicating the type of service content. The "destination" information is information indicating the location to which the moving body 5 performing the service action moves when performing the service. The information of the "service provision time" is information indicating the time period during which the mobile body 5 performs the service action. The information of "use mobile unit" is information indicating the identification information of the mobile unit 5 performing the service action.

For example, in the action instruction information of the service 001, the moving body 5 having the identification information of M01 delivers the package to the room R01 around 13:00.

For example, in the action instruction information of the service 002, the moving body 5 having the identification information of M02 cleans the rooms R02 and R03 from 9:00 to 10:00.

As shown in FIG. 15, the information on the entry/exit permitted time period and the entry/exit refusal time period includes information on the "moving body used", information on the "target section", information on the "time period", and information on the "permission to enter/exit" is information associated with the information of Information on the entry/exit permitted time period and the entry/exit refusal time period corresponds to the action instruction information shown in FIG. 13 .

The information of the "target section" is information indicating the target internal section 1a. The "time period" information is information indicating a time period from one time to another time. The information of "permission/rejection of entry/exit" is information indicating whether entry to and exit from the target internal section 1a of the moving body 5 is permitted or denied in a certain time slot.

For example, in the service 001 entry/exit permission time zone and entry/exit refusal time zone information, the moving object 5 having the identification information M01 moves to the room R01 during the time zone from 12:45 to 13:15 around 13:00. is permitted to enter and leave the internal compartment 1a of S01 where . The moving object 5 is denied entry to and exit from the inner section 1a of S01 at a time before 12:45 and a time slot after 13:15.

For example, in the information on the entrance/exit permitted time period and the entrance/exit refusal time period of service 002, the moving body 5 having the identification information of M02 moves to room R02 during the time period from 8:45 to 9:15, which is around 9:00. and room R03 are permitted to enter the inner section 1a of S02. In the service 002 entry/exit permitted time period and entry/exit denial time period information, the moving body 5 is permitted to exit from the internal section 1a of S02 during the time period from 9:45 to 10:15. M02 is denied entry during times other than 8:45 to 9:15. M02 has been denied exit at times other than 9:45 to 10:15.

Next, an example of the operation performed by the entrance/exit management device 3 will be described with reference to FIG. 16 .
FIG. 16 is a flow chart for explaining the outline of the operation of the entrance/exit management device according to the third embodiment.

As shown in FIG. 16, in step S201, the entrance/exit management device 3 receives the first request notification from the moving body 5. As shown in FIG.

After that, the operation of S202 is performed. In step S202, the entrance/exit management device 3 determines whether or not the information received from the moving body 5 is sufficient.

When it is determined in step S202 that there is no shortage of information, the entrance/exit management device 3 performs the operation of step S203. In step S203, the entrance/exit management device 3 sends a command to the service management device 17 to send action instruction information.

After that, the operation of step S204 is performed. In step S204, the entrance/exit management device 3 determines whether or not there is a reason for the moving body 5 to pass through the door 2 based on the action instruction information.

If it is determined in step S204 that there is a reason for passage, the entrance/exit management device 3 performs the operation of step S205. In step S<b>205 , the entrance/exit management device 3 performs an authentication operation for the first request notification received from the mobile body 5 .

After that, the entrance/exit management device 3 ends the operation.

If it is determined that the received information is insufficient in step S202, or if it is determined that there is no reason for the moving body 5 to pass through the door 2 in step S204, the entrance/exit management device 3 performs the operation of step S206. In step S<b>206 , the entrance/exit management device 3 rejects the authentication of the mobile body 5 . The entrance/exit management device 3 transmits information to the effect that the authentication has been rejected to the moving body 5 . After that, the entrance/exit management device 3 ends the operation.

Next, with reference to FIG. 17, an example of the operation of the entrance/exit management device 3 causing the mail distribution device 18 to distribute mail will be described.
FIG. 17 is a flow chart for explaining the outline of the operation of the entrance/exit management device according to the third embodiment.

In FIG. 17, when the entrance/exit management device 3 determines that the mobile body 5 has the right to pass, it starts the operations from step S301. In step S301, the entrance/exit management device 3 creates and stores entrance/exit history information.

After that, the operation of step S302 is performed. In step S302, the entrance/exit management device 3 monitors the scheduled exit time of the moving body 5 based on the entrance/exit history information. Specifically, the entrance/exit management device 3 determines whether or not the scheduled exit time of the moving body 5 has passed.

When it is determined in step S302 that the scheduled exit time of the moving body 5 has not passed, the entrance/exit management device 3 repeats the operation of step S302.

When it is determined in step S302 that the scheduled leaving time of the moving body 5 has passed, the entrance/exit management device 3 performs the operation of step S303. In step S303, the entrance/exit management device 3 transmits to the mail delivery device 18 a command to report information indicating that the scheduled time for leaving the moving body 5 has passed.

According to the third embodiment described above, the entrance/exit management device 3 determines whether or not there is a reason for the mobile body 5 to pass through the entrance/exit device based on the behavior information received from the mobile body 5 . Therefore, it can be determined that the authority possessed by the mobile body 5 is a valid authority. As a result, security is improved. Specifically, for example, a plurality of users X, Y, and Z each grant the authority to pass through a certain entrance/exit device to the mobile body 5 . When the entrance/exit management device 3 shown in the third embodiment is not applied, the moving body 5 receives a command from the user W and uses any of the authorities granted by the users X, Y, and Z to It is possible to tamper with the gateway device. In this case, security becomes an issue. The entrance/exit management device 3 according to Embodiment 3 can determine that there is no reason for the moving body 5 that has transmitted the first request notification based on the instruction from the user W to pass through, based on the behavior information. As a result, security is improved.

Also, the entrance/exit management device 3 determines whether or not there is a reason for the mobile body 5 to pass based on the action instruction information received from the service management device 17 and the action information received from the mobile body 5 . Therefore, it is possible to more accurately determine whether or not there is a reason for the moving body 5 to pass. As a result, security is improved.

The entrance/exit management device 3 also includes a notification unit 20 . When the moving body 5 does not leave the inner section 1a even after the expected time for leaving, the entrance/exit management device 3 notifies the administrator of the fact. Therefore, for example, when the mobile unit 5 encounters trouble and cannot move, the administrator can quickly deal with the trouble. Further, when the moving body 5 is illegally operated after passing through the entrance/exit device and behaves differently than planned, the administrator can know that the moving body 5 behaves differently than planned. As a result, security is improved.

Note that the service management device 17 may be provided in a building different from the building in which the management section 1 is set and the building in which the entrance/exit management device 3 is provided.

Note that the service management device 17 may create information on the entry-permitted time period and the entry-refusal time period for the moving body 5 based on the action instruction information. In this case, the service management device 17 may transmit information on the admission permitted time zone and the admission refusal time zone of the corresponding mobile body 5 instead of the action instruction information to the entrance/exit management device 3 . The entrance/exit management device 3 may perform determination by the second determination method based on the information on the admission permitted time period and the admission refusal time period.

Next, a modification of the entrance/exit management system according to Embodiment 3 will be described with reference to FIG.
FIG. 18 is a block diagram of a modification of the entrance/exit management system to which the entrance/exit management device according to Embodiment 3 is applied.

As shown in FIG. 18, a route management device 14 is provided in the entrance/exit management system of the modification of the third embodiment.

In the entrance/exit management device 3, the authentication unit 8 determines whether or not there is a reason for the moving body 5 to pass through the door 2 using the third determination method.

In the third determination method, when the receiving unit 7 receives information associated with the first request notification from the moving object 5, the authentication unit 8 determines whether the information included in the information is insufficient, as in the first determination method. It is determined whether or not there is When the authentication unit 8 determines that there is no shortage of information, the authentication unit 8 sends a command to the service management device 17 to send action instruction information corresponding to the mobile object 5 . At this time, the authentication unit 8 sends to the route management device 14 a command to send the route history information regarding the mobile object 5 .

After that, the authentication unit 8 determines whether or not the history information of the route of the moving object 5 matches the action instruction information in addition to the same determination as in the first determination method. Specifically, the authentication unit 8 estimates the shortest route for performing the service content indicated by the action instruction information received by the reception unit 7 . The authentication unit 8 determines whether or not the history information received by the reception unit 7 matches the shortest route. If the authentication unit 8 determines that the history information of the moving body 5 matches the shortest route, and if it determines that the action instruction information and the action information match as in the first determination method, the moving body 5 It is determined that there is a reason for passing through the door 2. In this case, the authentication unit 8 performs the authentication operation of the first request notification received from the mobile object 5 .

According to the modified example of Embodiment 3 described above, the entrance/exit management device 3 determines whether or not the history information matches the behavior information. Therefore, the validity of behavior information can be determined more accurately. For example, the entrance/exit management device 3 can detect that the mobile unit 5 is acting unreasonably with respect to the supported service content.

Instead of the first determination method, the authentication unit 8 determines whether or not the history information of the route of the moving body 5 matches the action instruction information in addition to the determination similar to that of the second determination method. good too. In this case, when the authentication unit 8 determines that the history information of the moving object 5 matches the shortest route and determines that it is a time period during which the moving object 5 is permitted to enter or exit, It may be determined that there is a reason for the moving body 5 to pass through the door 2 .

Embodiment 4.
FIG. 19 is a top view of a management section to which the entrance/exit management device according to Embodiment 4 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In the entrance/exit management system of Embodiment 4, security gates 9a and 9b are provided between the inner section 1a and the outer section 1b. The security gate 9a is provided next to the security gate 9b. A common inner authentication area 4a and an outer authentication area 4b are set for the security gates 9a and 9b.

The waiting places 21 a and 21 b are set in the external authentication area 4 b by the entrance/exit management device 3 . The waiting places 21a and 21b are set near the security gate 9a. The waiting place 21a is closer to the security gate 9a than the waiting place 21b. The priority of the waiting place 21a is set higher than the priority of the waiting place 21b.

When a person passes through the security gate 9a to move from the internal authentication area 4a to the external authentication area 4b, the person holds the ID card over the security gate 9a. When the entrance/exit management device 3 determines that the person has the right to pass through based on the information on the ID card, the entrance/exit management device 3 transmits a command to open the security gate 9a. The security gate 9a opens.

At this time, the moving object 5 transmits a first request notification to pass through the security gate 9a from the external authentication area 4b to the entrance/exit management device 3. FIG. When the entrance/exit management device 3 determines that the moving body 5 has the authority to pass through the security gate 9a while the person is not passing through the security gate 9a, the entrance/exit management device 3 determines that the security gate 9a is in use. , detects that the security gate 9a is impassable. In this case, the entrance/exit management device 3 transmits a command to the moving body 5 to wait at the specified waiting place 21a as an alternative operation. The mobile body 5 moves to the waiting place 21a.

After that, the person passes through the security gate 9a. The entrance/exit management device 3 transmits a command to the moving body 5 to perform an operation to pass through the security gate 9a when a predetermined time has passed after transmitting the command to wait to the moving body 5. . At this time, the entrance/exit management device 3 transmits a command to open the security gate 9a. The mobile body 5 passes through the security gate 9a.

Next, the entrance/exit management device 3 will be described with reference to FIG.
FIG. 20 is a block diagram of an entrance/exit management system to which the entrance/exit management device according to Embodiment 4 is applied.

As shown in FIG. 20 , the entrance/exit management device 3 includes a passability detection unit 22 and a command unit 23 .

The passability detection unit 22 receives information indicating the state of the entrance/exit device from the entrance/exit device. When it is determined that the entrance/exit device is in use or unavailable for a long period of time, the passability detection unit 22 detects that the entrance/exit device is currently impassable. Specifically, when the authentication unit 8 determines that the mobile body 5 has the authority to pass through the entrance/exit device, the pass permission/inhibition detection unit 22 detects whether or not the entrance/exit device is in use. Specifically, for example, if the entrance/exit device is not closed after being opened to allow a moving body or a person other than the moving body 5 to pass through, the passage availability detection unit 22 determines that the entrance/exit device is in use. I judge.

When it is determined that the entrance/exit device is not in use, the pass permission/inhibition detection unit 22 determines whether or not the entrance/exit device is in a state of being unavailable for a long time. Specifically, for example, when detecting that the entrance/exit device is out of order, the passability detector 22 determines that the entrance/exit device is unavailable for a long time. For example, when the passability detection unit 22 detects that there is an obstacle on the route through the gateway device, it determines that the gateway device is unavailable for a long time.

When it is determined that the entrance/exit device is in use, the passability detection unit 22 determines whether or not there is another entrance/exit device that can be used in place of the entrance/exit device. Specifically, for example, when the passability detection unit 22 detects that the security gate 9b adjacent to the security gate 9a can be used, it determines that there is another entrance/exit device.

When the passability detection unit 22 determines that another entrance device exists, the command unit 23 transmits a command to open the security gate 9b, which is the other entrance device. When the passability detection unit 22 determines that there is another entrance device, the command unit 23 transmits to the moving object 5 a command to pass through the other entrance device.

When the passability detection unit 22 determines that there is no other entrance/exit device, the command unit 23 estimates the time until the entrance/exit device becomes available. For example, when a person is going to pass through the security gate 9a, the command unit 23 estimates that the time until the security gate 9a becomes available is 5 seconds. For example, when another moving object 5 is about to pass through the security gate 9a, the command unit 23 estimates that the time until it becomes available is 30 seconds, which is longer than that for a person.

After estimating the time until it becomes available, the command unit 23 allocates a waiting place for the mobile body 5 to wait among one or more waiting places. For example, the command unit 23 assigns to the mobile body 5 a waiting place with the highest priority among one or more waiting places not currently assigned to any mobile body 5 . The command unit 23 sets the allocated waiting place to a busy state. The command unit 23 transmits a command to the moving body 5 to move to the assigned waiting place. After that, when the estimated time until it becomes available has passed, the command unit 23 transmits a command to pass through the entrance/exit device to the moving body 5 that has transmitted the command to move to the waiting place. At this time, the command unit 23 transmits an opening command to the entrance/exit device.

If the command unit 23 determines that the entrance/exit device is unavailable for a long time, the command unit 23 notifies the administrator of the entrance/exit device that the entrance/exit device is unavailable for a long time.

When the command unit 23 determines that the entrance/exit device is unavailable for a long period of time, the command unit 23 searches for a detour route that does not pass through the entrance/exit device using the building map information stored in the storage unit 6 in advance.

If a detour route exists, the command unit 23 transmits information on the detour route and a command to move the detour route to the mobile body 5 .

When the detour route does not exist, the command unit 23 transmits a command to the moving object 5 to stop the action performed through the entrance/exit device. For example, the command unit 23 may transmit a command to stop the action and a command to prompt another action.

Next, with reference to FIG. 21, an example of determination made by the entrance/exit management device 3 will be described.
FIG. 21 is a diagram showing an example of determination made by the entrance/exit management device according to the fourth embodiment.

As shown in FIG. 21, the entrance/exit management device 3 determines the state of the entrance/exit device as indicated by "state: classification" and "state: reason".

As shown in "state: reason", the entrance/exit management device 3 determines whether the person or other moving body 5 is in the same direction or opposite to the moving body 5 that has sent the first request notification regarding the entrance/exit device. It is detected that the person is passing through the entrance/exit device in the direction to The entrance/exit management device 3 detects that the entrance/exit device is out of order. The entrance/exit management device 3 detects the presence of an obstacle that obstructs passage through the entrance/exit device.

As shown in "state: classification", the entrance/exit management device 3 classifies the current state of the entrance/exit device based on "state: reason". When "state: reason" indicates that a person or other moving object 5 is passing through the entrance/exit device, the entrance/exit management device 3 detects "state: classification" as the entrance/exit device being used. If the "status: reason" indicates that the entrance/exit device is out of order or there is an obstacle, the entrance/exit management device 3 determines that the "status: classification" indicates that the entrance/exit device cannot be used for a long period of time. .

The entrance/exit management device 3 estimates the "availability condition/time" based on the "state: classification" and "state: reason". When the "status: classification" is "in use", the entrance/exit management device 3 presumes that the condition for becoming available is after a person or another moving body has completed passage. When the "state: classification" is "in use", the entrance/exit management device 3 estimates the waiting time according to the object currently passing. When the "status: reason" is "failure of the entrance/exit device", the entrance/exit management device 3 estimates that the access/exit device is repaired. When the "state: reason" is "obstacle present", the entrance/exit management device 3 presumes that the condition for becoming available is after the obstacle has been removed.

The entrance/exit management device 3 issues an "instruction to the moving object" based on the "state: classification" and "state: reason". The entrance/exit management device 3 performs "handling on the entrance/exit management system side" based on "state: classification" and "state: reason".

Next, with reference to FIG. 22, an example of an operation in which the entrance/exit management device 3 instructs the moving object 5 to perform an alternative operation will be described.
FIG. 22 is a flow chart for explaining the outline of the operation of the entrance/exit management device according to the fourth embodiment.

The entrance/exit management device 3 starts operation when it receives the notification of the first request to pass through the security gate 9a from the mobile object 5 .

As shown in FIG. 22, in S401, the entrance/exit management device 3 determines whether or not the mobile body 5 is authorized to pass through the security gate 9a based on the first request notification in the authentication operation.

If it is determined in step S401 that the mobile body 5 does not have the authority to pass through the security gate 9a, the entrance/exit management device 3 terminates the operation.

When it is determined in step S401 that the mobile body 5 has the authority to pass through the security gate 9a, the entrance/exit management device 3 performs the operation of S402. In step S402, the entrance/exit management device 3 determines whether or not the security gate 9a associated with the first request notification is in use.

When it is determined in step S402 that the security gate 9a is not in use, the entrance/exit management device 3 performs the operation of step S403. In step S403, the entrance/exit management device 3 determines whether or not the security gate 9a is unavailable for a long time.

If it is determined in step S403 that the security gate 9a is not in a state of being unavailable for a long time, the entrance/exit management device 3 performs the operation of step S404. In step S404, the entrance/exit management device 3 transmits a command to open the security gate 9a.

After that, the entrance/exit management device 3 ends the operation.

When it is determined in step S402 that the security gate 9a is being used, the entrance/exit management device 3 performs the operation of step S405. In step S405, the entrance/exit management device 3 determines whether or not there is another security gate to replace the security gate 9a.

If it is determined in step S405 that there is a security gate that replaces the security gate 9a, the entrance/exit management device 3 performs the operation of step S406. In step S406, the entrance/exit management device 3 transmits a command to open another security gate instead of the security gate 9a.

After that, the entrance/exit management device 3 performs the operation of step S407. In step S407, the entrance/exit management device 3 sends a command to the moving object 5 that has sent the first request notification to pass through another security gate instead of the security gate 9a.

After that, the entrance/exit management device 3 ends the operation.

When it is determined in step S405 that there is no other security gate to replace the security gate 9a, the entrance/exit management device 3 performs the operation of step S408. In step S408, the entrance/exit management device 3 estimates the time until the security gate 9a becomes available.

After that, the operation of step S409 is performed. In step S409, the entrance/exit management device 3 determines a waiting place to be assigned from one or more waiting places corresponding to the security gate 9a. The entrance/exit management device 3 transmits a command to move to the assigned standby location to the mobile unit 5 that has transmitted the first request notification.

Thereafter, the operation of step S410 is performed. In step S410, the entrance/exit management device 3 determines whether or not the state in which the moving body 5 should wait at the waiting place has been resolved.

When it is determined in step S410 that the state to wait has not been resolved, the entrance/exit management device 3 repeats the operation of step S410.

When it is determined in step S410 that the standby state has been resolved, the entrance/exit management device 3 performs the operation of step S411. In step S411, the entrance/exit management device 3 transmits a command for opening the security gate 9a. The entrance/exit management device 3 transmits a command to pass through the security gate 9a to the moving object 5 that has transmitted the command to move to the waiting place.

After that, the entrance/exit management device 3 ends the operation.

When it is determined in step S403 that the security gate 9a is in a state of being unavailable for a long time, the entrance/exit management device 3 performs the operation of step S412. In step S412, the entrance/exit management device 3 notifies the administrator that the security gate 9a is unavailable for a long time.

After that, the operation of step S413 is performed. In step S413, the entrance/exit management device 3 determines whether or not there is a detour route.

When it is determined in step S413 that there is a detour route, the entrance/exit management device 3 performs the operation of step S414. In step S414, the entrance/exit management device 3 transmits the detour route information and a command to move to the detour route to the moving body 5 that has transmitted the first request notification.

After that, the entrance/exit management device 3 ends the operation.

When it is determined in step S413 that there is no detour route, the entrance/exit management device 3 performs the operation of step S415. In step S415, the entrance/exit management device 3 transmits a command to stop the action performed through the security gate 9a to the mobile body 5 that has transmitted the first request notification.

After that, the entrance/exit management device 3 ends the operation.

According to the fourth embodiment described above, the entrance/exit management device 3 includes the passability detection unit 22 and the command unit 23 . When the entry/exit control device 3 detects that the entrance/exit device is in a state in which the mobile body 5 with passage authority is not allowed to pass, the entrance/exit management device 3 transmits a command for an operation to be performed instead of the mobile body 5 . For this reason, for example, it is possible to instruct the mobile body 5, which cannot independently determine the situation, to act in an unsteady state in which the entrance/exit device cannot pass through. In other words, the entrance/exit management device 3 can assist the movement of the moving object 5 . If the entrance/exit management device 3 in the fourth embodiment is not applied, the moving body 5, which cannot judge the situation by itself, can take the action of trying to pass through the entrance/exit device that is in a state where it cannot pass. At this time, the moving body 5 may damage the entrance/exit device by forcibly trying to pass through the entrance/exit device. Also, it may come into contact with another moving body 5 that was trying to pass earlier. By applying the entrance/exit management device 3 according to Embodiment 4, the facility and the moving body 5 can be protected. In addition, when the above trouble occurs, it is possible to prevent people from illegally passing through the entrance/exit device by using the trouble.

In addition, the entrance/exit management device 3 transmits a command to the mobile body 5 to wait for a specified time at the waiting place. Therefore, the moving body 5 can wait its turn to pass through the entrance/exit device.

Further, when the entrance/exit management device 3 detects that the entrance/exit device is in a state where the moving body 5 cannot pass through for a long time, the entrance/exit management device 3 transmits a command to the moving body 5 to stop the operation of passing through the entrance/exit device. do. Therefore, it is possible to prevent the moving body 5 from waiting for passage through the entrance/exit device for a long period of time. Also, for example, the moving object 5 can cancel the task to be performed by passing through the entrance/exit device and perform another task. As a result, the moving efficiency of the moving body 5 can be improved.

When determining the waiting place of the moving body 5, the entrance/exit management device 3 may determine the waiting place according to the direction in which the person or another moving body 5 moves.

1 Management section 1a, 1c, 1d Internal section 1b, 1e External section 2, 2a, 2b Door 3 Access control device 4a Internal authentication area 4b External authentication area 5 Moving body 6 Storage unit 7 Receiver 8 Authentication Unit 9, 9a, 9b Security Gate 10 Lane 11 Imaging Device 12 Beacon Device 13 Route History Storage Device 14 Route Management Device 15a, 15b External Authentication Area 15c Duplicate Authentication Area 16 Identification unit 17 Service management device 18 Mail distribution device 19 Entrance/exit history creation unit 20 Notification unit 21a, 21b Waiting place 22 Passability detection unit 23 Command unit 100a Processor 100b Memory 200 Hardware

Claims (15)

Either one of a first request notification that the mobile body passes through the gateway device and a report notification that the mobile body has completed passage through the gateway device, and the mobile body when transmitting the first request notification or the report notification a receiving unit that receives the first location information from the mobile object;
When it is determined that the first request notification or the report notification is transmitted while the mobile object is in a specified area based on the first location information received by the receiving unit, the receiving unit receives determining whether or not the moving object has the authority to pass through the entrance/exit device based on the first request notification, or allowing the moving object to pass through the entrance/exit device based on the report notification received by the receiving unit determine whether it is complete,
If it is determined based on the first location information received by the receiving unit that the first request notification or the report notification has not been transmitted while the mobile object is in the specified area, 1 an authentication unit that does not determine whether or not there is the authority based on the request notification or does not determine whether or not the passage is completed based on the report notification;
with
The first request notification includes identification information of the gateway device.
Access control device. 2. The authentication unit, when determining that the moving object has the authority to pass through the entrance/exit device based on the notification of the first request, transmits a command to make the entrance/exit device ready for passage. The entrance/exit control device described in . 3. When it is determined that the moving object has completed passage through the entrance/exit device based on the report notification, the authentication unit transmits a command to the entrance/exit device from a passable state to an impassable state. The entrance/exit management device according to claim 1 or 2. The receiving unit receives second position information of the moving body created based on information obtained by imaging the moving body by an imaging device when the moving body transmits the first request notification or the report notification. ,
When the authentication unit determines that the first request notification or the report notification has been transmitted while the mobile object is in the area based on the first location information received by the reception unit, If it is determined that the position information matches the second position information, it is determined whether or not the moving body has the authority to pass through the entrance/exit device based on the first request notification received by the receiving unit. Alternatively, the entrance/exit management device according to any one of claims 1 to 3, wherein it is determined whether or not the moving object has completed passage through the entrance/exit device based on the report notification received by the receiving unit. . The receiving unit receives, from the beacon device, second position information of the mobile body detected by the beacon device when the mobile body transmits the first request notification or the report notification,
When the authentication unit determines that the first request notification or the report notification has been transmitted while the mobile object is in the area based on the first location information received by the reception unit, If it is determined that the position information matches the second position information, it is determined whether or not the moving body has the authority to pass through the entrance/exit device based on the first request notification received by the receiving unit. Alternatively, the entrance/exit management device according to any one of claims 1 to 3, wherein it is determined whether or not the moving object has completed passage through the entrance/exit device based on the report notification received by the receiving unit. . The receiving unit receives, from a route management device, history information of a route traveled by the mobile until the mobile object transmits the first request notification or the report notification,
When the authentication unit determines that the first request notification or the report notification is transmitted while the mobile object is in the area based on the first location information received by the reception unit, and the reception unit determining whether the moving object has the authority to pass through the entrance/exit device based on the first request notification received by the receiving unit when the history information received by the receiving unit determines that the received history information matches the first location information or whether or not the moving body has completed passage through the entrance/exit device based on the report notification received by the receiving unit. Retirement device. The receiving unit receives entering/exiting action information indicating whether the action of the moving object passing through the entrance/exit device in response to the first request notification is an action of entering a specified section or an action of exiting from the section. receive the
When the authentication unit determines that the first request notification has been transmitted while the mobile object is in the area based on the first location information and the entering/exiting operation information received by the receiving unit, and when it is determined that the position at which the moving object has transmitted the first request notification matches the position at which the moving object enters the zone or the position at which the moving object exits from the zone, the moving object 7. The entrance/exit management device according to any one of claims 1 to 6, wherein it is determined whether or not there is an authority to pass through the entrance/exit device. third location information of the moving object when transmitting a second request notification to pass through any one of a plurality of candidate entrance/exit devices including the entrance/exit device; and when the moving object transmitted the second request notification an identification unit that identifies, from among the plurality of candidate entrance devices, the candidate entrance device requested by the moving body to pass based on the direction information that the moving body faces when the moving body faces;
The entrance/exit management device according to claim 1, comprising: 9. The entrance/exit according to claim 8, wherein the receiving unit receives the direction information to which the moving body faces when an imaging device transmits the second request notification created based on the information on the imaging of the moving body. management device. The receiving unit receives, from the mobile body, action information that the mobile body performs after passing through the entrance device based on the first request notification,
When the authentication unit determines that the moving object has a reason to pass through the entrance/exit device based on the behavior information received by the receiving unit, the authentication unit determines that the moving object passes through the entrance/exit based on the first request notification. 2. The entrance/exit management device according to claim 1, wherein it is determined whether or not there is an authority to pass through the device. The receiving unit receives the action instruction information from a service management device that transmits the action instruction information instructing the action of the mobile body to the mobile body,
When the authentication unit determines that the action information received by the receiving unit from the mobile object to which the service management device has transmitted the action instruction information matches the action instruction information received by the reception unit, 11. The entrance/exit management device according to claim 10, wherein it is determined that there is a reason for the moving object to pass through the entrance/exit device. a notification unit for notifying that the moving body has not left the zone when it is determined that the moving body has not left the zone even after the scheduled time for leaving the zone into which the entrance device has been entered;
The entrance/exit management device according to claim 1, comprising: a passability detection unit that detects whether or not the entrance device is in a state in which the movable body is allowed to pass when the authentication unit determines that the movable body is authorized to pass through the entrance device;
a command unit that transmits a command for an operation to be performed instead of the moving object when the passage permission/prohibition detection unit detects that the entrance device is in a state in which the moving object cannot pass through;
The entrance/exit management device according to claim 1, comprising: The command unit instructs the moving body to wait at a specified standby location corresponding to the entrance device when the passage possibility detection unit detects that the entrance device is in a state in which the moving body cannot pass. 14. The entrance/exit management device according to claim 13, which transmits a command to wait for a period of time. When the passability detection unit detects that the entrance/exit device is in a state in which the moving object cannot pass for a long time, the command unit performs the instruction after the moving object passes through the entrance/exit device. 15. The entrance/exit management device according to claim 13 or 14, which transmits a command to stop the operation.

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